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عدد المساهمات : 18928 التقييم : 35294 تاريخ التسجيل : 01/07/2009 الدولة : مصر العمل : مدير منتدى هندسة الإنتاج والتصميم الميكانيكى
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أخوانى فى الله أحضرت لكم كتاب Designing Autonomous Mobile Robots John Holland
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Contents Foreword xiii What’s on the CD-ROM? .xv SECTION 1 – Background Software and Concepts . 1 Chapter 1: Measure Twice, Cut Once 3 Determinism . 3 Rule-based systems, state-driven systems, and other potential tar pits . 4 Defining an open architecture . 10 Chapter 2: A Brief History of Software Concepts 11 Assembly language . 12 Early conventional languages . 13 Compilers vs. interpreters 15 The GUI revolution . 17 The great rift 18 Object-oriented programming . 18 Robots and robot subsystems as objects . 20 Network languages . 21 Chapter 3: The Basics of Real-time Software (For Mere Mortals) . 23 Threads . 23 Interrupts and stacks 24 Context . 26viii Contents Kernels and tasks 28 Task switching 31 Interrupt events 31 Time slicing 32 Reentrance . 32 Interrupt masking and interrupt priority . 33 Inter-task communications 34 Visual Basic and real-time controls 35 VB events . 35 DoEvents 35 Freddy as a VB form . 38 Modal controls . 40 Some other tips on using VB for real-time applications . 40 Setting up a structure . 40 Creating a library 41 Chapter 4: Thinking More Clearly Through Fuzzy Logic . 45 Trapezoidal fuzzy logic 49 Fuzzy democracy . 50 Adaptive fuzzy logic 51 Weighting trapezoids in response to other parameters 51 Multipass and fratricidal fuzzy logic . 53 Summary . 54 Chapter 5: Closed Loop Controls, Rabbits and Hounds . 55 Basic PID controls 58 Predictive controls . 63 Combined reactive and predictive controls . 64 Various PID enhancements 65 Robot drive controls . 69 Tuning controls 73 Rabbits chasing rabbits . 75 Conclusions 75ix Contents Chapter 6: Communications and Control 77 Popular networks 77 Rigid protocols and other really bad ideas . 81 Flexible protocols . 85 Communications architectures 88 Wrappers, layers, and shells . 89 Drivers, OCXs and DLLs . 93 Improving communications efficiency . 95 Timing issues and error handling . 99 Other issues 103 SECTION 2 – Basic Navigation . 105 Chapter 7: Basic Navigation Philosophies 107 The academic school of thought 107 The industrial school of thought . 109 Area coverage robots 109 Virtual path following vs. goal seeking 111 A practical starting point and “a priori” knowledge 115 Chapter 8: Live Reckoning . 117 Understanding why good dead reckoning is crucial 120 Picking coordinate systems 121 Tick calculations . 122 Live reckoning interaction with other processes . 126 Chapter 9: The Best Laid Plans of Mice and Machines . 127 Path planning and execution . 128 Are we there yet? 130 Running on . 132 Bread crumbs and irregular path following 132 The Z axis, maps, and wormholes 134 Summary . 135x Contents Chapter 10: Navigation as a Filtering Process . 137 Filtering for the truth . 137 The importance of uncertainty 138 Modeling uncertainty . 140 Reducing uncertainty . 143 Learning to be accurately uncertain 144 Uses of uncertainty . 144 Chapter 11: Hard Navigation vs. Fuzzy Navigation 145 Sensor data and maps . 145 Navigation features 147 Hard navigation 149 The concept of fuzzy navigation 151 Other profiles . 164 The referenced state . 165 Reducing uncertainty . 166 Chapter 12: Sensors, Navigation Agents and Arbitration . 169 Sensor types 169 Guidelines for selecting and deploying navigation and collision avoidance sensors 178 Navigation agents . 186 Agent properties and methods . 186 Arbitration and competition among agents 187 Who to believe . 188 Changing one’s mind 189 Summary . 189 Chapter 13: Instilling Pain, Fear and Confidence . 191 Pain and annoyance . 191 Virtual pain . 191 Avoiding pain and humiliation 194 The purpose of virtual confidence . 198xi Calculating virtual confidence . 200 Summary . 207 Chapter 14: Becoming Unstuck in Time 209 Getting past sequential thinking . 209 Thinking of a mobile robot as multiple robot time-places 214 Managing the time dimension . 217 Chapter 15: Programming Robots to Be Useful 219 Preprogramming vs. teaching paths . 219 Embedding data into maps . 222 Map interpreters . 223 Events and targets 224 Text-based programming 226 Graphical generation of text programs 231 Conclusions 237 Chapter 16: Command, Control, and Monitoring 239 Unmanaged and self-managed systems 240 Ping-pong job management . 242 Dispatched job management 243 Exceptions 248 Exception decision making 251 Expert assistance . 253 Status monitoring . 254 Taking control 255 Some GUI rules 257 Robustness and context preservation 261 Conclusions 261 Chapter 17: The Law of Conservation of Defects and the Art of Debugging . 263 The law of conservation of defects 263 The art of debugging 267 Contentsxii Types of bugs . 272 Summary . 274 Chapter 18: “What the Hell Happened?” 275 Logging . 278 Data mining using relational techniques . 282 Incident reporting 290 Summary . 294 Chapter 19: The Industry, Its Past and Its Future 295 The history of robotics . 296 The mobile robotics industry . 300 Industry segmentation for autonomous mobile robots 302 The government sector 309 Why aren’t the robots here yet? . 318 The future . 321 Appendix: Referenced Laws and Formulas . 325 Law of Sines and Law of Cosines . 325 Simple 2D Vector Addition . 326 Linear Regression . 327 About the Author . 329 Index
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